/**
 * @file           : VT03.h
 * @author         : Star_Plucking
 * @brief          : 新图传协议
 * @date           : 25-4-25 下午5:35
 * @lastEditor     :
 * @lastEditTime   : 25-4-25 下午5:35
 */
#pragma once
#include "sheriffos.h"
#include "singleton.h"
#include "units.h"
#include <cstdint>

namespace device::vt03 {
namespace crc {
static uint16_t get_crc16_check_sum(uint8_t* p_msg, uint16_t len, uint16_t crc16);

static uint16_t crc16_init = 0xffff;
static uint16_t const crc16_tab[256] = {
    0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5,
    0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, 0xae52,
    0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3,
    0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
    0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9,
    0x2732, 0x36bb, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e,
    0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f,
    0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
    0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,
    0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb,
    0x4e64, 0x5fed, 0x6d76, 0x7cff, 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948,
    0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
    0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226,
    0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497,
    0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704,
    0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
    0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb,
    0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
    0x3de3, 0x2c6a, 0x1ef1, 0x0f78};

/**
 * @brief Get the crc16 checksum
 *
 * @param p_msg Data to check
 * @param len length
 * @param crc16 Crc16 initialized checksum
 * @return crc16 Crc16 checksum
 */
static uint16_t get_crc16_check_sum(uint8_t* p_msg, uint16_t len, uint16_t crc16) {
    uint8_t data;

    if (p_msg == NULL) {
        return 0xffff;
    }

    while (len--) {
        data = *p_msg++;
        (crc16) = ((uint16_t)(crc16) >> 8) ^ crc16_tab[((uint16_t)(crc16) ^ (uint16_t)(data)) & 0x00ff];
    }

    return crc16;
}

/**
 * @brief crc16 verify function
 *
 * @param p_msg Data to verify
 * @param len Stream length=data+checksum
 * @return bool Crc16 check result
 */
inline bool verify_crc16_check_sum(uint8_t* p_msg, uint16_t len) {
    uint16_t w_expected = 0;

    if ((p_msg == NULL) || (len <= 2)) {
        return false;
    }
    w_expected = get_crc16_check_sum(p_msg, len - 2, crc16_init);

    return ((w_expected & 0xff) == p_msg[len - 2] && ((w_expected >> 8) & 0xff) == p_msg[len - 1]);
}
} // namespace crc

using namespace units::literals;

enum class ModeSwitch_DataTypeDef : uint64_t { C = 0, N = 1, S = 2 };

constexpr int16_t Ch_offset = 1024; // 遥控器通道偏移量

struct __attribute__((__packed__)) Keyboard_DataTypeDef {
    uint16_t w : 1;
    uint16_t s : 1;
    uint16_t a : 1;
    uint16_t d : 1;
    uint16_t shift : 1;
    uint16_t ctrl : 1;
    uint16_t q : 1;
    uint16_t e : 1;
    uint16_t r : 1;
    uint16_t f : 1;
    uint16_t g : 1;
    uint16_t z : 1;
    uint16_t x : 1;
    uint16_t c : 1;
    uint16_t v : 1;
    uint16_t b : 1;
};

struct __attribute__((__packed__)) Remote_BufferTypeDef {
    // 遥控接收数据包
    uint64_t Right_x : 11; // 右摇杆水平轴: 364~1684
    uint64_t Right_y : 11; // 右摇杆垂直轴: 364~1684
    uint64_t Left_y : 11; // 左摇杆垂直轴: 364~1684
    uint64_t Left_x : 11; // 左摇杆水平轴: 364~1684
    ModeSwitch_DataTypeDef mode_sw : 2; // 档位切换开关
    uint64_t pause : 1; // 暂停按键
    uint64_t fn_1 : 1; // 自定义按键（左）
    uint64_t fn_2 : 1; // 自定义按键（右）
    uint64_t wheel : 11; // 拨轮: 364~1684
    uint64_t trigger : 1; // 扳机
};

struct __attribute__((__packed__)) Remote_DataTypeDef {
    // 遥控解算数据包
    int16_t Right_x; // 右摇杆水平轴: -660~660
    int16_t Right_y; // 右摇杆垂直轴: -660~660
    int16_t Left_y; // 左摇杆垂直轴: -660~660
    int16_t Left_x; // 左摇杆水平轴: -660~660
    ModeSwitch_DataTypeDef mode_sw : 2; // 档位切换开关
    uint64_t pause : 1; // 暂停按键
    uint64_t fn_1 : 1; // 自定义按键（左）
    uint64_t fn_2 : 1; // 自定义按键（右）
    int16_t wheel; // 拨轮: -660~660
    uint64_t trigger : 1; // 扳机
};

struct __attribute__((packed)) Receiver_Buffer {
    // 链路接收数据包
    uint8_t sof_1; // 0xA9
    uint8_t sof_2; // 0x53

    Remote_BufferTypeDef remote; // 链路数据包

    int16_t mouse_x;
    int16_t mouse_y;
    int16_t mouse_z;
    uint8_t mouse_left : 2;
    uint8_t mouse_right : 2;
    uint8_t mouse_middle : 2;
    Keyboard_DataTypeDef key_board;
    uint16_t crc16;
};

struct __attribute__((__packed__)) Receiver_Data {
    // 链路解算包
    Remote_DataTypeDef remote;

    int16_t mouse_x;
    int16_t mouse_y;
    int16_t mouse_z;
    uint8_t mouse_left : 2;
    uint8_t mouse_right : 2;
    uint8_t mouse_middle : 2;

    Keyboard_DataTypeDef key_board;
};

enum class Receiver_State {
    kConnected = 0,
    kLost = 1,
};

class Receiver;
// 使用一个const指针用来在调试的时候访问单例
inline Receiver const* receiver_debug_ptr = nullptr;

// 确保结构体按字节紧密排列，不进行字节对齐
class __attribute__((packed)) Receiver : public Singleton<Receiver> {
    friend Singleton;

private:
    Receiver_Buffer _buffer;
    Receiver_Data _data{}, _data_last{};
    bool _data_updated = false;
    units::time::millisecond_t _last_update_time = 0_ms;
    Receiver_State _state = Receiver_State::kLost;

    Receiver() { receiver_debug_ptr = this; }

public:
    uint16_t const data_len = sizeof(Receiver_Buffer);

    // 获取数据
    [[nodiscard]] Receiver_Data const& GetData() const { return _data; }
    [[nodiscard]] Receiver_Data const& GetDataLast() const { return _data_last; }

    void TestLost() {
        // 传给connection guard做断联检测
        if (os::getTime() - _last_update_time > 500_ms) {
            _state = Receiver_State::kLost;
        } else {
            _state = Receiver_State::kConnected;
        }
    }

    [[nodiscard]] bool isLost() const { return _state == Receiver_State::kLost; }

    // 接受并解析数据
    void Receive(uint8_t* buffer, uint8_t const length) {
        if (length != data_len) return;

        if (buffer[0] != 0xA9 || buffer[1] != 0x53) return; // 包头校验不通过

        // CRC校验
        if (crc::verify_crc16_check_sum(buffer, data_len)) {
            memcpy(&_buffer, buffer, data_len);
            _data.remote.Right_x = static_cast<int16_t>(_buffer.remote.Right_x) - Ch_offset;
            _data.remote.Right_y = static_cast<int16_t>(_buffer.remote.Right_y) - Ch_offset;
            _data.remote.Left_y = static_cast<int16_t>(_buffer.remote.Left_y) - Ch_offset;
            _data.remote.Left_x = static_cast<int16_t>(_buffer.remote.Left_x) - Ch_offset;
            _data.remote.mode_sw = _buffer.remote.mode_sw;
            _data.remote.pause = _buffer.remote.pause;
            _data.remote.fn_1 = _buffer.remote.fn_1;
            _data.remote.fn_2 = _buffer.remote.fn_2;
            _data.remote.wheel = static_cast<int16_t>(_buffer.remote.wheel) - Ch_offset;
            _data.remote.trigger = _buffer.remote.trigger;
            _data_updated = true;

            _data.mouse_x = _buffer.mouse_x;
            _data.mouse_y = _buffer.mouse_y;
            _data.mouse_z = _buffer.mouse_z;
            _data.mouse_left = _buffer.mouse_left;
            _data.mouse_right = _buffer.mouse_right;
            _data.mouse_middle = _buffer.mouse_middle;

            _data.key_board = _buffer.key_board;
            _last_update_time = os::getTime();
        }
    }

    void Update_LastData() { _data_last = _data; } // 解码函数调用，使last数据与控制频率一致
};
} // namespace device::vt03